Control of four rotor unmanned aerial vehicle with visual feedback via combined EEG and EMG biological signals

In this thesis study, flight control was carried out using a 4-rotor unmanned aerial vehicle using EEG (Electroencephalogram) and EMG (Electromyogram) biological signals, in the real-world and virtual reality environment where performance tests can be performed. Control performance is achieved by trajectory planning in virtual reality game and real unmanned aerial control application. For this purpose, it is aimed to simulate flight controls in virtual reality game, to plan orbit in different reality environments and to test flight control performance. The EEG signal is used for take-off and landing of the UAV (Unmanned Aerial Vehicle), and the EMG signal is used to move the UAV to the right, left, forward, and backward. Filtering, feature extraction, size reduction and classification were performed with EEG and EMG signals for the creation of direction commands. When the feature extraction is performed, both time and frequency domain features are utilized. EYK, LDA, KDA, YSA, DVM and Naive Bayes classification algorithms are used as classifier. As a result of these studies and performance tests, flight control of an unmanned aerial vehicle using biological signals have been successfully performed. In addition, a virtual reality application was created to enable people with disabilities to control with muscle and mind power. In the game environment with different designed scenes, it is possible to think about flight pleasure completely and to play by playing the muscles. Thus, a system is offered as an alternative to expensive gloves joysticks or remote controllers used to control many tools, toys or machines. An alternative application for physical treatment for partial orthopedically impaired individuals has been established. A new dimension has been added to the four-rotor unmanned aerial vehicle control, which is often used in many areas or industries. These characteristics, which will inspire future work, also constitute the original side of our work.